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<div class="header">
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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
<a href="classpcl_1_1gpu_1_1_tsdf_volume-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::gpu::TsdfVolume类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html" title="TsdfVolume class">TsdfVolume</a> class  
 <a href="classpcl_1_1gpu_1_1_tsdf_volume.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="include_2pcl_2gpu_2kinfu_2tsdf__volume_8h_source.html">tsdf_volume.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:af7284f87df931d50620ac49b7d6fd1cc"><td class="memItemLeft" align="right" valign="top"><a id="af7284f87df931d50620ac49b7d6fd1cc"></a>enum &#160;</td><td class="memItemRight" valign="bottom">{ <b>DEFAULT_CLOUD_BUFFER_SIZE</b> = 10 * 1000 * 1000
 }</td></tr>
<tr class="memdesc:af7284f87df931d50620ac49b7d6fd1cc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default buffer size for fetching cloud. It limits max number of points that can be extracted <br /></td></tr>
<tr class="separator:af7284f87df931d50620ac49b7d6fd1cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a34740f06457d14849cffc711be3951ca"><td class="memItemLeft" align="right" valign="top"><a id="a34740f06457d14849cffc711be3951ca"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html">TsdfVolume</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a34740f06457d14849cffc711be3951ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab36b2875335eb85772eacfe1dfe6e116"><td class="memItemLeft" align="right" valign="top"><a id="ab36b2875335eb85772eacfe1dfe6e116"></a>
typedef <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ab36b2875335eb85772eacfe1dfe6e116">PointType</a></td></tr>
<tr class="memdesc:ab36b2875335eb85772eacfe1dfe6e116"><td class="mdescLeft">&#160;</td><td class="mdescRight">Supported Point Types <br /></td></tr>
<tr class="separator:ab36b2875335eb85772eacfe1dfe6e116"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7126d89503eef2813c098bb728883999"><td class="memItemLeft" align="right" valign="top"><a id="a7126d89503eef2813c098bb728883999"></a>
typedef <a class="el" href="structpcl_1_1_normal.html">Normal</a>&#160;</td><td class="memItemRight" valign="bottom"><b>NormalType</b></td></tr>
<tr class="separator:a7126d89503eef2813c098bb728883999"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a652027d84e6385d759b618a7d3575381"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#a652027d84e6385d759b618a7d3575381">TsdfVolume</a> (const Eigen::Vector3i &amp;resolution)</td></tr>
<tr class="memdesc:a652027d84e6385d759b618a7d3575381"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor  <a href="classpcl_1_1gpu_1_1_tsdf_volume.html#a652027d84e6385d759b618a7d3575381">更多...</a><br /></td></tr>
<tr class="separator:a652027d84e6385d759b618a7d3575381"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8bbf84e610c75d4fc4b06bcac6179086"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#a8bbf84e610c75d4fc4b06bcac6179086">setSize</a> (const Eigen::Vector3f &amp;size)</td></tr>
<tr class="memdesc:a8bbf84e610c75d4fc4b06bcac6179086"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets Tsdf volume size for each dimention  <a href="classpcl_1_1gpu_1_1_tsdf_volume.html#a8bbf84e610c75d4fc4b06bcac6179086">更多...</a><br /></td></tr>
<tr class="separator:a8bbf84e610c75d4fc4b06bcac6179086"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0c990e6dedb73d6dc1466c3251f07cc7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#a0c990e6dedb73d6dc1466c3251f07cc7">setTsdfTruncDist</a> (float distance)</td></tr>
<tr class="memdesc:a0c990e6dedb73d6dc1466c3251f07cc7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets Tsdf truncation distance. Must be greater than 2 * volume_voxel_size  <a href="classpcl_1_1gpu_1_1_tsdf_volume.html#a0c990e6dedb73d6dc1466c3251f07cc7">更多...</a><br /></td></tr>
<tr class="separator:a0c990e6dedb73d6dc1466c3251f07cc7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4e208fb16491e508015899b447e3d9e9"><td class="memItemLeft" align="right" valign="top"><a id="a4e208fb16491e508015899b447e3d9e9"></a>
<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#a4e208fb16491e508015899b447e3d9e9">data</a> () const</td></tr>
<tr class="memdesc:a4e208fb16491e508015899b447e3d9e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns tsdf volume container that point to data in GPU memroy <br /></td></tr>
<tr class="separator:a4e208fb16491e508015899b447e3d9e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a97032d55d869cd39f6b07578b20d2ecb"><td class="memItemLeft" align="right" valign="top"><a id="a97032d55d869cd39f6b07578b20d2ecb"></a>
const Eigen::Vector3f &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#a97032d55d869cd39f6b07578b20d2ecb">getSize</a> () const</td></tr>
<tr class="memdesc:a97032d55d869cd39f6b07578b20d2ecb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns volume size in meters <br /></td></tr>
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<tr class="memitem:ac3e50248b3430eb6090b19baa66c84d7"><td class="memItemLeft" align="right" valign="top"><a id="ac3e50248b3430eb6090b19baa66c84d7"></a>
const Eigen::Vector3i &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ac3e50248b3430eb6090b19baa66c84d7">getResolution</a> () const</td></tr>
<tr class="memdesc:ac3e50248b3430eb6090b19baa66c84d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns volume resolution <br /></td></tr>
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<tr class="memitem:a9212d84b00d696a4166cce05611dd055"><td class="memItemLeft" align="right" valign="top"><a id="a9212d84b00d696a4166cce05611dd055"></a>
const Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#a9212d84b00d696a4166cce05611dd055">getVoxelSize</a> () const</td></tr>
<tr class="memdesc:a9212d84b00d696a4166cce05611dd055"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns volume voxel size in meters <br /></td></tr>
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<tr class="memitem:ac054f6391a522d29db4ea9e9bdc45b09"><td class="memItemLeft" align="right" valign="top"><a id="ac054f6391a522d29db4ea9e9bdc45b09"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ac054f6391a522d29db4ea9e9bdc45b09">getTsdfTruncDist</a> () const</td></tr>
<tr class="memdesc:ac054f6391a522d29db4ea9e9bdc45b09"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns tsdf truncation distance in meters <br /></td></tr>
<tr class="separator:ac054f6391a522d29db4ea9e9bdc45b09"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab9c7d0b3bc4434c0aece64494ddd800d"><td class="memItemLeft" align="right" valign="top"><a id="ab9c7d0b3bc4434c0aece64494ddd800d"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ab9c7d0b3bc4434c0aece64494ddd800d">reset</a> ()</td></tr>
<tr class="memdesc:ab9c7d0b3bc4434c0aece64494ddd800d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resets tsdf volume data to uninitialized state <br /></td></tr>
<tr class="separator:ab9c7d0b3bc4434c0aece64494ddd800d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac30b83f08b0764e002ccb6085614be54"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ac30b83f08b0764e002ccb6085614be54">fetchCloudHost</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ab36b2875335eb85772eacfe1dfe6e116">PointType</a> &gt; &amp;cloud, bool connected26=false) const</td></tr>
<tr class="memdesc:ac30b83f08b0764e002ccb6085614be54"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generates cloud using CPU (downloads volumetric representation to CPU memory)  <a href="classpcl_1_1gpu_1_1_tsdf_volume.html#ac30b83f08b0764e002ccb6085614be54">更多...</a><br /></td></tr>
<tr class="separator:ac30b83f08b0764e002ccb6085614be54"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8fa8601c2f353f528afe3d7c76a5ceb0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ab36b2875335eb85772eacfe1dfe6e116">PointType</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#a8fa8601c2f353f528afe3d7c76a5ceb0">fetchCloud</a> (<a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ab36b2875335eb85772eacfe1dfe6e116">PointType</a> &gt; &amp;cloud_buffer) const</td></tr>
<tr class="memdesc:a8fa8601c2f353f528afe3d7c76a5ceb0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generates cloud using GPU in connected6 mode only  <a href="classpcl_1_1gpu_1_1_tsdf_volume.html#a8fa8601c2f353f528afe3d7c76a5ceb0">更多...</a><br /></td></tr>
<tr class="separator:a8fa8601c2f353f528afe3d7c76a5ceb0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afe84643fb1968ab43c899b65f2da090b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#afe84643fb1968ab43c899b65f2da090b">fetchNormals</a> (const <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ab36b2875335eb85772eacfe1dfe6e116">PointType</a> &gt; &amp;cloud, <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ab36b2875335eb85772eacfe1dfe6e116">PointType</a> &gt; &amp;normals) const</td></tr>
<tr class="memdesc:afe84643fb1968ab43c899b65f2da090b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes normals as gradient of tsdf for given points  <a href="classpcl_1_1gpu_1_1_tsdf_volume.html#afe84643fb1968ab43c899b65f2da090b">更多...</a><br /></td></tr>
<tr class="separator:afe84643fb1968ab43c899b65f2da090b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abf80667711ef360baa21ca4cdfe6c198"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#abf80667711ef360baa21ca4cdfe6c198">fetchNormals</a> (const <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ab36b2875335eb85772eacfe1dfe6e116">PointType</a> &gt; &amp;cloud, <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalType</a> &gt; &amp;normals) const</td></tr>
<tr class="memdesc:abf80667711ef360baa21ca4cdfe6c198"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes normals as gradient of tsdf for given points  <a href="classpcl_1_1gpu_1_1_tsdf_volume.html#abf80667711ef360baa21ca4cdfe6c198">更多...</a><br /></td></tr>
<tr class="separator:abf80667711ef360baa21ca4cdfe6c198"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4e965ae164b5bc72798d6068a78c8ea"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#af4e965ae164b5bc72798d6068a78c8ea">downloadTsdf</a> (std::vector&lt; float &gt; &amp;tsdf) const</td></tr>
<tr class="memdesc:af4e965ae164b5bc72798d6068a78c8ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downloads tsdf volume from GPU memory. <br  />
  <a href="classpcl_1_1gpu_1_1_tsdf_volume.html#af4e965ae164b5bc72798d6068a78c8ea">更多...</a><br /></td></tr>
<tr class="separator:af4e965ae164b5bc72798d6068a78c8ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeef47d9b91afd121fea026227750bc76"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#aeef47d9b91afd121fea026227750bc76">downloadTsdfAndWeighs</a> (std::vector&lt; float &gt; &amp;tsdf, std::vector&lt; short &gt; &amp;weights) const</td></tr>
<tr class="memdesc:aeef47d9b91afd121fea026227750bc76"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downloads TSDF volume and according voxel weights from GPU memory  <a href="classpcl_1_1gpu_1_1_tsdf_volume.html#aeef47d9b91afd121fea026227750bc76">更多...</a><br /></td></tr>
<tr class="separator:aeef47d9b91afd121fea026227750bc76"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a3c687c59b27d22eb9706a7e4a6ea7869"><td class="memItemLeft" align="right" valign="top"><a id="a3c687c59b27d22eb9706a7e4a6ea7869"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#a3c687c59b27d22eb9706a7e4a6ea7869">size_</a></td></tr>
<tr class="memdesc:a3c687c59b27d22eb9706a7e4a6ea7869"><td class="mdescLeft">&#160;</td><td class="mdescRight">tsdf volume size in meters <br /></td></tr>
<tr class="separator:a3c687c59b27d22eb9706a7e4a6ea7869"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a907fdf34a4620883d28a86c250abfbbe"><td class="memItemLeft" align="right" valign="top"><a id="a907fdf34a4620883d28a86c250abfbbe"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#a907fdf34a4620883d28a86c250abfbbe">resolution_</a></td></tr>
<tr class="memdesc:a907fdf34a4620883d28a86c250abfbbe"><td class="mdescLeft">&#160;</td><td class="mdescRight">tsdf volume resolution <br /></td></tr>
<tr class="separator:a907fdf34a4620883d28a86c250abfbbe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1300af788e840fd74ef90282386ec016"><td class="memItemLeft" align="right" valign="top"><a id="a1300af788e840fd74ef90282386ec016"></a>
<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#a1300af788e840fd74ef90282386ec016">volume_</a></td></tr>
<tr class="memdesc:a1300af788e840fd74ef90282386ec016"><td class="mdescLeft">&#160;</td><td class="mdescRight">tsdf volume data container <br /></td></tr>
<tr class="separator:a1300af788e840fd74ef90282386ec016"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0094307762f2cf1cc3aa49eb6fb0f460"><td class="memItemLeft" align="right" valign="top"><a id="a0094307762f2cf1cc3aa49eb6fb0f460"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#a0094307762f2cf1cc3aa49eb6fb0f460">tranc_dist_</a></td></tr>
<tr class="memdesc:a0094307762f2cf1cc3aa49eb6fb0f460"><td class="mdescLeft">&#160;</td><td class="mdescRight">tsdf truncation distance <br /></td></tr>
<tr class="separator:a0094307762f2cf1cc3aa49eb6fb0f460"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html" title="TsdfVolume class">TsdfVolume</a> class </p>
<dl class="section author"><dt>作者</dt><dd>Anatoly Baskeheev, Itseez Ltd, (<a href="#" onclick="location.href='mai'+'lto:'+'myn'+'am'+'e.m'+'ys'+'urn'+'am'+'e@m'+'yc'+'omp'+'an'+'y.c'+'om'; return false;">mynam<span style="display: none;">.nosp@m.</span>e.my<span style="display: none;">.nosp@m.</span>surna<span style="display: none;">.nosp@m.</span>me@m<span style="display: none;">.nosp@m.</span>ycomp<span style="display: none;">.nosp@m.</span>any.<span style="display: none;">.nosp@m.</span>com</a>) </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a652027d84e6385d759b618a7d3575381"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a652027d84e6385d759b618a7d3575381">&#9670;&nbsp;</a></span>TsdfVolume()</h2>

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          <td class="memname">pcl::gpu::TsdfVolume::TsdfVolume </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3i &amp;&#160;</td>
          <td class="paramname"><em>resolution</em></td><td>)</td>
          <td></td>
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<p>Constructor </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">resolution</td><td>volume resolution </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="groupheader">成员函数说明</h2>
<a id="af4e965ae164b5bc72798d6068a78c8ea"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af4e965ae164b5bc72798d6068a78c8ea">&#9670;&nbsp;</a></span>downloadTsdf()</h2>

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          <td class="memname">void pcl::gpu::TsdfVolume::downloadTsdf </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>tsdf</em></td><td>)</td>
          <td> const</td>
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      </table>
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<p>Downloads tsdf volume from GPU memory. <br  />
 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">tsdf</td><td>Array with tsdf values. if volume resolution is 512x512x512, so for voxel (x,y,z) tsdf value can be retrieved as volume[512*512*z + 512*y + x]; </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aeef47d9b91afd121fea026227750bc76">&#9670;&nbsp;</a></span>downloadTsdfAndWeighs()</h2>

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          <td class="memname">void pcl::gpu::TsdfVolume::downloadTsdfAndWeighs </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>tsdf</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; short &gt; &amp;&#160;</td>
          <td class="paramname"><em>weights</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Downloads TSDF volume and according voxel weights from GPU memory </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">tsdf</td><td>Array with tsdf values. if volume resolution is 512x512x512, so for voxel (x,y,z) tsdf value can be retrieved as volume[512*512*z + 512*y + x]; </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">weights</td><td>Array with tsdf voxel weights. Same size and access index as for tsdf. A weight of 0 indicates the voxel was never used. </td></tr>
  </table>
  </dd>
</dl>

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<a id="a8fa8601c2f353f528afe3d7c76a5ceb0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8fa8601c2f353f528afe3d7c76a5ceb0">&#9670;&nbsp;</a></span>fetchCloud()</h2>

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          <td class="memname"><a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt;<a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ab36b2875335eb85772eacfe1dfe6e116">PointType</a>&gt; pcl::gpu::TsdfVolume::fetchCloud </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ab36b2875335eb85772eacfe1dfe6e116">PointType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_buffer</em></td><td>)</td>
          <td> const</td>
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<p>Generates cloud using GPU in connected6 mode only </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud_buffer</td><td>buffer to store point cloud </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd><a class="el" href="classpcl_1_1gpu_1_1_device_array.html" title="DeviceArray class">DeviceArray</a> with disabled reference counting that points to filled part of cloud_buffer. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ac30b83f08b0764e002ccb6085614be54">&#9670;&nbsp;</a></span>fetchCloudHost()</h2>

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          <td class="memname">void pcl::gpu::TsdfVolume::fetchCloudHost </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ab36b2875335eb85772eacfe1dfe6e116">PointType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>connected26</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
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<p>Generates cloud using CPU (downloads volumetric representation to CPU memory) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>output array for cloud </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">connected26</td><td>If false point cloud is extracted using 6 neighbor, otherwise 26. </td></tr>
  </table>
  </dd>
</dl>

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<a id="abf80667711ef360baa21ca4cdfe6c198"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abf80667711ef360baa21ca4cdfe6c198">&#9670;&nbsp;</a></span>fetchNormals() <span class="overload">[1/2]</span></h2>

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          <td class="memname">void pcl::gpu::TsdfVolume::fetchNormals </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ab36b2875335eb85772eacfe1dfe6e116">PointType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>normals</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
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<p>Computes normals as gradient of tsdf for given points </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>Points where normals are computed. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">normals</td><td>array for normals </td></tr>
  </table>
  </dd>
</dl>

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<a id="afe84643fb1968ab43c899b65f2da090b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afe84643fb1968ab43c899b65f2da090b">&#9670;&nbsp;</a></span>fetchNormals() <span class="overload">[2/2]</span></h2>

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          <td class="memname">void pcl::gpu::TsdfVolume::fetchNormals </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ab36b2875335eb85772eacfe1dfe6e116">PointType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html#ab36b2875335eb85772eacfe1dfe6e116">PointType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>normals</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
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<p>Computes normals as gradient of tsdf for given points </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>Points where normals are computed. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">normals</td><td>array for normals </td></tr>
  </table>
  </dd>
</dl>

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<a id="a8bbf84e610c75d4fc4b06bcac6179086"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8bbf84e610c75d4fc4b06bcac6179086">&#9670;&nbsp;</a></span>setSize()</h2>

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          <td class="memname">void pcl::gpu::TsdfVolume::setSize </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>size</em></td><td>)</td>
          <td></td>
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<p>Sets Tsdf volume size for each dimention </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">size</td><td>size of tsdf volume in meters </td></tr>
  </table>
  </dd>
</dl>

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<a id="a0c990e6dedb73d6dc1466c3251f07cc7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0c990e6dedb73d6dc1466c3251f07cc7">&#9670;&nbsp;</a></span>setTsdfTruncDist()</h2>

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          <td class="memname">void pcl::gpu::TsdfVolume::setTsdfTruncDist </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>distance</em></td><td>)</td>
          <td></td>
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<p>Sets Tsdf truncation distance. Must be greater than 2 * volume_voxel_size </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">distance</td><td>TSDF truncation distance </td></tr>
  </table>
  </dd>
</dl>

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</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>gpu/kinfu/include/pcl/gpu/kinfu/<a class="el" href="include_2pcl_2gpu_2kinfu_2tsdf__volume_8h_source.html">tsdf_volume.h</a></li>
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